ROS2 gazebo深度相机话题发布频率无法改变

[1906107485]

ROS版本：ROS2 humble
Ubuntu版本：22.04

urdf文件代码：

<gazebo reference="camera_link">
    <sensor name="camera" type="depth">
      <always_on>true</always_on>
      <update_rate>100</update_rate>
      <camera>
        <horizontal_fov>1.047198</horizontal_fov>
        <image>
          <width>640</width>
          <height>480</height>
          <format>R8G8B8</format>
        </image>
        <clip>
          <near>0.05</near>
          <far>2</far>
        </clip>
      </camera>
      <plugin name="depth_controller" filename="libgazebo_ros_camera.so">
        <baseline>0.2</baseline>
        <camera_name>camera</camera_name>
        <frame_name>camera_link</frame_name>
        <ros>
          <namespace>camera_ns</namespace>
          <remapping>camera/image_raw:=camera/image</remapping>
          <remapping>camera/image_depth:=camera/image_depth</remapping>
          <remapping>camera/camera_info:=camera/info_raw</remapping>
          <remapping>camera/camera_info_depth:=camera/info_depth</remapping>
          <remapping>camera/points:=camera/points</remapping>
        </ros>
        <min_depth>0.05</min_depth>
        <max_depth>3.0</max_depth>
        <hack_baseline>0</hack_baseline>
      </plugin>
    </sensor>
  </gazebo>

<update_rate></update_rate>参数怎么改都没用，相机话题发布频率一直是个位数（一般在二点几左右，有时候稍微高一点），但其他参数都有效。

终端测试：

-virtual-machine:~$ ros2 topic hz /camera_ns/camera/points 
average rate: 2.670
	min: 0.086s max: 0.633s std dev: 0.23781s window: 5
average rate: 2.437
	min: 0.077s max: 0.856s std dev: 0.27464s window: 8
average rate: 2.178
	min: 0.077s max: 1.112s std dev: 0.31849s window: 11
average rate: 2.269
	min: 0.077s max: 1.112s std dev: 0.30068s window: 14
average rate: 2.337
	min: 0.077s max: 1.112s std dev: 0.27097s window: 18
average rate: 2.227
	min: 0.077s max: 1.189s std dev: 0.31681s window: 20
average rate: 2.167
	min: 0.076s max: 1.189s std dev: 0.34131s window: 22
average rate: 2.042
	min: 0.076s max: 1.308s std dev: 0.37178s window: 25
average rate: 2.258
	min: 0.076s max: 1.308s std dev: 0.35621s window: 30
average rate: 2.302
	min: 0.067s max: 1.308s std dev: 0.35243s window: 33

求助